Forecast Method of Obstacle Region in Dynamic Environment

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  • 動的環境における障害物領域予測法
  • ドウテキ カンキョウ ニ オケル ショウガイブツ リョウイキ ヨソクホウ

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In this paper, we study ways to avoid obstacles in case of action of an autonomous robot in a dynamic environment. We considered that a problem of obstacle avoidance result in one of the robustness against environment changes in a motion plan. Supposing that it is able to forecast of a working environment of the future and to plan ahead motion for the future, it is possible that a robot takes action in response to environment changes. As a result, we may hope for an improvement in the robustness of a motion plan.<br>This study especially take notice of a path of a mobile robot in a motion plan of an autonomous robot. We considered that a transfer from a pattern of environment information to one of plan is a path plan and studied ways to proccess an occupied region pattern of a working environment in parallel. This paper proposes a technique for to forecast of environment changes and to plan ahead motion for the future.

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